Please use this identifier to cite or link to this item: https://doi.org/10.1109/SII.2012.6426963
Title: Robot-assisted RF ablation with interactive planning and mixed reality guidance
Authors: Wen, R.
Chng, C.-B.
Chui, C.-K. 
Lim, K.-B. 
Ong, S.-H.
Chang, S.K.-Y.
Issue Date: 2012
Source: Wen, R.,Chng, C.-B.,Chui, C.-K.,Lim, K.-B.,Ong, S.-H.,Chang, S.K.-Y. (2012). Robot-assisted RF ablation with interactive planning and mixed reality guidance. 2012 IEEE/SICE International Symposium on System Integration, SII 2012 : 31-36. ScholarBank@NUS Repository. https://doi.org/10.1109/SII.2012.6426963
Abstract: Radiofrequency (RF) ablation delivered through interventional procedure is a good alternative to hepatic resection or liver transplant for treatment of liver tumor. However, inefficient RF needle navigation and limited thermal ablation region challenge surgeons' manipulations. This paper presents robot-assisted RF ablation system for liver tumor treatment with interactive planning and mixed reality guidance. Interactive planning involves ablation model planning and surgeon's supervisory feedback via projector-based augmented reality (AR). The preoperatively defined surgical planning data is visualized directly on the patient body through the AR display, supplying information of insertion points, ablation points as well as preplanned trajectories, before execution by robot. The needle's spatial insertion is intraoperatively navigated by stereoscopic tracking and simulated in a model based virtual environment comprising anatomic and RF needle models. The robotic execution benefited from improved accuracy on needle's tip tracking and model based simulation. Ex vivo model and in vivo animal studies were conducted to validate and assess the performance of proposed mechanism. This solution is promising in overcoming current technological limitations and practical constraints of precise transcutaneous ablation therapy. © 2012 IEEE.
Source Title: 2012 IEEE/SICE International Symposium on System Integration, SII 2012
URI: http://scholarbank.nus.edu.sg/handle/10635/73822
ISBN: 9781467314961
DOI: 10.1109/SII.2012.6426963
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

2
checked on Dec 5, 2017

Page view(s)

24
checked on Dec 9, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.